Pepperl+Fuchs R2000 Driver

The driver comes as a library, which contains the actual driver, and has additionally a ROS-Node interface to the Robot Operating System (http://www.ros.org), which can be used optionally.

Sensor information

"The new 2-dimensional laser range sensor operates using tried-and-tested Pulse Ranging Technology and boasts a range of unique features. For example, the device features a laser emitter with a visible red light. Users can see where the scanning level is and can align the device accordingly. Thanks to its classification in laser class 1, the device can be used in all workspaces, without posing a health hazard to people. The device has a measuring angle of 360° and boasts a measuring frequency of up to 250,000 individual measurements per second. Combined with a scanning frequency of up to 50 Hz, the device is extremely well suited to highspeed applications. Another feature is the display integrated in the lens aperture." (from the official datasheet with permission from Pepperl+Fuchs)

Usage with ROS

The ROS package pepperl_fuchs_r2000 consists of the driver library and a node named r2000_node, which is linked to the library. This is the actual driver node. The dummy_slam_broadcaster is only needed if you want to display the sensors data using the QuickStart method mentioned below.

Published Topics

scan (sensor_msgs/Laserscan) A standard ROS Laserscan message containing the measured data. The message rate per second depends on the scan_frequency parameter.

Parameters

frame_id The frame-ID in the Header of the published sensor_msgs/Laserscan2 messages

scanner_ip IP or hostname of the laserscanner

scan_frequency The scan frequency (rotation speed of scanner head) in Hz in the range [10;50]

samples_per_scan The number of distances measured per scan/rotation in the range [72;25200]. Only certain values are allowed (see Manual). Examples are 72, 360, 720, 1440, 1800, 3600, 7200, 10080, 25200.

Quick Start

Copy the driver in your ROS workspace and compile it.
Set the IP-Address of the scanner in pepperl_fuchs_r2000/launch/gui_example.launch and run the following command:

More documentation

The driver is commented in doxygen style.
You can create a latex and html documentation in the pepperl_fuchs_r2000/doxygen directory
by entering the following command in the pepperl_fuchs_r2000 directory:

$ doxygen doxygen.conf

No version for distro lunar. Known supported distros are highlighted in the buttons above.

Pepperl+Fuchs R2000 Driver

The driver comes as a library, which contains the actual driver, and has additionally a ROS-Node interface to the Robot Operating System (http://www.ros.org), which can be used optionally.

Sensor information

"The new 2-dimensional laser range sensor operates using tried-and-tested Pulse Ranging Technology and boasts a range of unique features. For example, the device features a laser emitter with a visible red light. Users can see where the scanning level is and can align the device accordingly. Thanks to its classification in laser class 1, the device can be used in all workspaces, without posing a health hazard to people. The device has a measuring angle of 360° and boasts a measuring frequency of up to 250,000 individual measurements per second. Combined with a scanning frequency of up to 50 Hz, the device is extremely well suited to highspeed applications. Another feature is the display integrated in the lens aperture." (from the official datasheet with permission from Pepperl+Fuchs)

Usage with ROS

The ROS package pepperl_fuchs_r2000 consists of the driver library and a node named r2000_node, which is linked to the library. This is the actual driver node. The dummy_slam_broadcaster is only needed if you want to display the sensors data using the QuickStart method mentioned below.

Published Topics

scan (sensor_msgs/Laserscan) A standard ROS Laserscan message containing the measured data. The message rate per second depends on the scan_frequency parameter.

Parameters

frame_id The frame-ID in the Header of the published sensor_msgs/Laserscan2 messages

scanner_ip IP or hostname of the laserscanner

scan_frequency The scan frequency (rotation speed of scanner head) in Hz in the range [10;50]

samples_per_scan The number of distances measured per scan/rotation in the range [72;25200]. Only certain values are allowed (see Manual). Examples are 72, 360, 720, 1440, 1800, 3600, 7200, 10080, 25200.

Quick Start

Copy the driver in your ROS workspace and compile it.
Set the IP-Address of the scanner in pepperl_fuchs_r2000/launch/gui_example.launch and run the following command:

More documentation

The driver is commented in doxygen style.
You can create a latex and html documentation in the pepperl_fuchs_r2000/doxygen directory
by entering the following command in the pepperl_fuchs_r2000 directory:

Pepperl+Fuchs R2000 Driver

The driver comes as a library, which contains the actual driver, and has additionally a ROS-Node interface to the Robot Operating System (http://www.ros.org), which can be used optionally.

Sensor information

"The new 2-dimensional laser range sensor operates using tried-and-tested Pulse Ranging Technology and boasts a range of unique features. For example, the device features a laser emitter with a visible red light. Users can see where the scanning level is and can align the device accordingly. Thanks to its classification in laser class 1, the device can be used in all workspaces, without posing a health hazard to people. The device has a measuring angle of 360° and boasts a measuring frequency of up to 250,000 individual measurements per second. Combined with a scanning frequency of up to 50 Hz, the device is extremely well suited to highspeed applications. Another feature is the display integrated in the lens aperture." (from the official datasheet with permission from Pepperl+Fuchs)

Usage with ROS

The ROS package pepperl_fuchs_r2000 consists of the driver library and a node named r2000_node, which is linked to the library. This is the actual driver node. The dummy_slam_broadcaster is only needed if you want to display the sensors data using the QuickStart method mentioned below.

Published Topics

scan (sensor_msgs/Laserscan) A standard ROS Laserscan message containing the measured data. The message rate per second depends on the scan_frequency parameter.

Parameters

frame_id The frame-ID in the Header of the published sensor_msgs/Laserscan2 messages

scanner_ip IP or hostname of the laserscanner

scan_frequency The scan frequency (rotation speed of scanner head) in Hz in the range [10;50]

samples_per_scan The number of distances measured per scan/rotation in the range [72;25200]. Only certain values are allowed (see Manual). Examples are 72, 360, 720, 1440, 1800, 3600, 7200, 10080, 25200.

Quick Start

Copy the driver in your ROS workspace and compile it.
Set the IP-Address of the scanner in pepperl_fuchs_r2000/launch/gui_example.launch and run the following command:

More documentation

The driver is commented in doxygen style.
You can create a latex and html documentation in the pepperl_fuchs_r2000/doxygen directory
by entering the following command in the pepperl_fuchs_r2000 directory:

$ doxygen doxygen.conf

No version for distro ardent. Known supported distros are highlighted in the buttons above.

Pepperl+Fuchs R2000 Driver

The driver comes as a library, which contains the actual driver, and has additionally a ROS-Node interface to the Robot Operating System (http://www.ros.org), which can be used optionally.

Sensor information

"The new 2-dimensional laser range sensor operates using tried-and-tested Pulse Ranging Technology and boasts a range of unique features. For example, the device features a laser emitter with a visible red light. Users can see where the scanning level is and can align the device accordingly. Thanks to its classification in laser class 1, the device can be used in all workspaces, without posing a health hazard to people. The device has a measuring angle of 360° and boasts a measuring frequency of up to 250,000 individual measurements per second. Combined with a scanning frequency of up to 50 Hz, the device is extremely well suited to highspeed applications. Another feature is the display integrated in the lens aperture." (from the official datasheet with permission from Pepperl+Fuchs)

Usage with ROS

The ROS package pepperl_fuchs_r2000 consists of the driver library and a node named r2000_node, which is linked to the library. This is the actual driver node. The dummy_slam_broadcaster is only needed if you want to display the sensors data using the QuickStart method mentioned below.

Published Topics

scan (sensor_msgs/Laserscan) A standard ROS Laserscan message containing the measured data. The message rate per second depends on the scan_frequency parameter.

Parameters

frame_id The frame-ID in the Header of the published sensor_msgs/Laserscan2 messages

scanner_ip IP or hostname of the laserscanner

scan_frequency The scan frequency (rotation speed of scanner head) in Hz in the range [10;50]

samples_per_scan The number of distances measured per scan/rotation in the range [72;25200]. Only certain values are allowed (see Manual). Examples are 72, 360, 720, 1440, 1800, 3600, 7200, 10080, 25200.

Quick Start

Copy the driver in your ROS workspace and compile it.
Set the IP-Address of the scanner in pepperl_fuchs_r2000/launch/gui_example.launch and run the following command:

More documentation

The driver is commented in doxygen style.
You can create a latex and html documentation in the pepperl_fuchs_r2000/doxygen directory
by entering the following command in the pepperl_fuchs_r2000 directory:

Pepperl+Fuchs R2000 Driver

The driver comes as a library, which contains the actual driver, and has additionally a ROS-Node interface to the Robot Operating System (http://www.ros.org), which can be used optionally.

Sensor information

"The new 2-dimensional laser range sensor operates using tried-and-tested Pulse Ranging Technology and boasts a range of unique features. For example, the device features a laser emitter with a visible red light. Users can see where the scanning level is and can align the device accordingly. Thanks to its classification in laser class 1, the device can be used in all workspaces, without posing a health hazard to people. The device has a measuring angle of 360° and boasts a measuring frequency of up to 250,000 individual measurements per second. Combined with a scanning frequency of up to 50 Hz, the device is extremely well suited to highspeed applications. Another feature is the display integrated in the lens aperture." (from the official datasheet with permission from Pepperl+Fuchs)

Usage with ROS

The ROS package pepperl_fuchs_r2000 consists of the driver library and a node named r2000_node, which is linked to the library. This is the actual driver node. The dummy_slam_broadcaster is only needed if you want to display the sensors data using the QuickStart method mentioned below.

Published Topics

scan (sensor_msgs/Laserscan) A standard ROS Laserscan message containing the measured data. The message rate per second depends on the scan_frequency parameter.

Parameters

frame_id The frame-ID in the Header of the published sensor_msgs/Laserscan2 messages

scanner_ip IP or hostname of the laserscanner

scan_frequency The scan frequency (rotation speed of scanner head) in Hz in the range [10;50]

samples_per_scan The number of distances measured per scan/rotation in the range [72;25200]. Only certain values are allowed (see Manual). Examples are 72, 360, 720, 1440, 1800, 3600, 7200, 10080, 25200.

Quick Start

Copy the driver in your ROS workspace and compile it.
Set the IP-Address of the scanner in pepperl_fuchs_r2000/launch/gui_example.launch and run the following command:

More documentation

The driver is commented in doxygen style.
You can create a latex and html documentation in the pepperl_fuchs_r2000/doxygen directory
by entering the following command in the pepperl_fuchs_r2000 directory: